Interactive dynamic simulators are an accelerator for developing novel robotic control algorithms and complex systems involving humans and robots. In user training and synthetic data generation applications, a high-fidelity visualization of the simulation is essential. Visual fidelity is dependent on the quality of the computer graphics algorithms used to render the simulated scene. Furthermore, the rendering algorithms must be implemented on the graphics processing unit (GPU) to achieve real-time performance, requiring the use of a graphics application programming interface (API). This paper presents a performance-focused and lightweight rendering engine supporting the Vulkan graphics API. The engine is designed to modernize the legacy rendering pipeline of Asynchronous Multi-Body Framework (AMBF), a dynamic simulation framework used extensively for interactive robotics simulation development. This new rendering engine implements graphical features such as physically based rendering (PBR), anti-aliasing, and ray-traced shadows, significantly improving the image quality of AMBF. Computational experiments show that the engine can render a simulated scene with over seven million triangles while maintaining GPU computation times within two milliseconds.

翻译：交互式动态仿真器是开发新型机器人控制算法及涉及人机交互的复杂系统的重要加速工具。在用户训练与合成数据生成应用中，仿真的高保真可视化至关重要。视觉保真度取决于用于渲染仿真场景的计算机图形算法质量。此外，渲染算法需在图形处理器（GPU）上实现以达到实时性能，这要求使用图形应用程序接口（API）。本文提出一种专注于性能优化且支持Vulkan图形API的轻量级渲染引擎。该引擎旨在对异步多体框架（AMBF）——一个广泛用于交互式机器人仿真开发的动态仿真框架——的传统渲染管线进行现代化改造。新渲染引擎实现了基于物理的渲染（PBR）、抗锯齿和光线追踪阴影等图形特性，显著提升了AMBF的图像质量。计算实验表明，该引擎可渲染包含超过七百万个三角形的仿真场景，同时将GPU计算时间控制在两毫秒以内。